Robotic arm cart and uses therefor

ABSTRACT

In some embodiments, an apparatus can include a robotic arm cart for transporting, delivering, and securing robotic arms to a surgical table having a table top on which a patient can be disposed. The arm cart can include an arm container and a base. The arm container can be configured to receive and contain one or more robotic arms. The arm cart can include a first coupling member configured to engage with a second coupling member associated with a surgical table such that, when the first coupling member is engaged with the second coupling member, the one or more robotic arms can be releasably coupled with the surgical table. The arm cart can provide for movement of the one or more robotic arms in at least one of a lateral, longitudinal, or vertical direction relative to the table top prior to the securement of the one or more robotic arms to the surgical table.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims priority to and the benefit of U.S. ProvisionalApplication No. 62/509,611, filed May 22, 2017, entitled “Robotic ArmCart and Uses Therefor,” the disclosure of which is incorporated byreference herein in its entirety.

BACKGROUND

Embodiments described herein relate to apparatus and methods for arobotic arm cart for transporting, delivering, and securing robotic armsto, for example, a surgical table.

SUMMARY

Apparatus and methods for providing a robotic arm cart for transporting,delivering, and securing robotic arms to a surgical table having a tabletop on which a patient can be disposed are described herein. In someembodiments, an apparatus includes an arm cart including an armcontainer and a base. The arm container can be configured to receive andcontain one or more robotic arms. The arm cart can include a firstcoupling member configured to engage with a second coupling memberassociated with a surgical table such that, when the first couplingmember is engaged with the second coupling member, the one or morerobotic arms can be releasably coupled with the surgical table. The armcart can provide for movement of the one or more robotic arms in atleast one of a lateral, longitudinal, or vertical direction relative tothe table top prior to the securement of the one or more robotic arms tothe surgical table.

BRIEF DESCRIPTION OF THE DRAWINGS

FIGS. 1A and 1B are a schematic side view and a schematic top view,respectively, of a surgical table, according to an embodiment.

FIG. 1C is a schematic side view of a robotic arm, according to anembodiment, shown in an extended or use configuration; and FIG. 1D is aschematic side view of the robotic arm of FIG. 1C, shown in a collapsedor folded configuration.

FIG. 2A is a schematic top view of a surgical table with robotic armscoupled thereto, according to an embodiment.

FIG. 2B is a schematic top view of a surgical table with robotic armsand an arm adapter coupled thereto, according to an embodiment.

FIG. 3 is a schematic illustration of an arm cart according to anembodiment.

FIG. 4 is a schematic illustration of an arm cart and a surgical table,according to an embodiment.

FIG. 5 is a flowchart of a method of using an arm cart to transferrobotic arms to a surgical table, according to an embodiment.

FIGS. 6A and 6B are schematic illustrations of coupling members,according to an embodiment.

FIGS. 7A-7C show various views of an arm cart in a variety ofconfigurations, according to an embodiment.

FIGS. 8A and 8B show a back and top view of an arm cart, according to anembodiment.

FIG. 9 is a perspective view of an arm cart, according to an embodiment.

FIGS. 10A and 10B show a side view of an arm cart in a firstconfiguration and a second configuration, according to an embodiment.

FIG. 11 is a schematic illustration of a portion of an arm cartsupporting two robotic arms, according to an embodiment.

FIG. 12 is a perspective view of an arm cart in a docking configuration,according to an embodiment.

FIGS. 13A-13F are various views of an arm cart in a variety ofconfigurations, according to an embodiment.

FIGS. 14A-14C show side views of an arm cart in three configurationsduring a docking operation.

FIGS. 15A-15C are various views of an arm cart and a robotic arm inmultiple configurations, according to an embodiment.

FIG. 16 is a schematic illustration of a coupling mechanism of an armcontainer and a robotic arm, according to an embodiment.

FIG. 17 is a schematic illustration of an arm cart engaged with arobotic arm in a deployment configuration, according to an embodiment.

FIG. 18 is a schematic perspective view of an arm cart, according to anembodiment.

FIGS. 19A-19C are various views of an arm cart and robotic arm inmultiple configurations, according to an embodiment.

FIGS. 20A-20C are various views of an arm cart and robotic arm inmultiple configurations, according to an embodiment.

FIG. 21A is a schematic illustration of a side view of two arm carts ina nested configuration, according to an embodiment.

FIG. 21B is a schematic illustration of a top view of two arm containersof the arm carts of FIG. 21A in a nested configuration.

FIG. 22 is a schematic illustration of a top view of two arm carts in anested configuration, according to an embodiment.

FIG. 23 is a schematic illustration of a top view of two arm carts in anested configuration, according to an embodiment.

DETAILED DESCRIPTION

Apparatus and methods for providing a robotic arm cart for transporting,delivering, and securing robotic arms to a surgical table having a tabletop on which a patient can be disposed are described herein. In someembodiments, an apparatus includes an arm cart including an armcontainer and a base. The arm container can be configured to receive andcontain one or more robotic arms. The arm cart can include a firstcoupling member configured to engage with a second coupling memberassociated with a surgical table such that, when the first couplingmember is engaged with the second coupling member, the one or morerobotic arms can be releasably coupled with the surgical table. The armcart can provide for movement of the one or more robotic arms in atleast one of a lateral, longitudinal, or vertical direction relative tothe table top prior to the securement of the one or more robotic arms tothe surgical table.

As shown schematically in FIGS. 1A-1B, a surgical table 100 includes atable top 120, a table support 122 and a table base 124. The table top120 has an upper surface on which a patient P can be disposed during asurgical procedure, as shown schematically in FIG. 1A. The table top 120is disposed on the support 122, which can be, for example, a pedestal,at a suitable height above the floor. The support 122 (also referred toherein as a pedestal) may provide for movement of the table top 120 in adesired number of degrees of freedom, such as translation in the Z axis(height above the floor), Y axis (along the longitudinal axis of thetable), and/or X axis (along the lateral axis of the table), and/orrotation about the Z, Y, and/or X axes. The table top 120 may alsoinclude multiple sections that are movable relative to each otheralong/about any suitable axes, e.g., separate sections for each of thetorso, one or both legs, and/or one or both arms, and a head supportsection. Movement of the table top 120 and/or its constituent sectionsmay be performed manually, driven by motors, controlled remotely, orthrough any other suitable means. The support 122 for the table top maybe mounted to the base 124, which can be fixed to the floor of theoperating room, or can be movable relative to the floor, e.g., by use ofwheels on the base 124. In some embodiments, the height of the support122 can be adjusted, which together with, for example, the motion (e.g.,axial (longitudinal) or lateral motion) of the table top 120, can allowfor the table top 120 to be positioned at a desired surgical site at acertain height above the floor (e.g., to allow surgeon access) and acertain distance from the support 120. This also can allow robotic arms(e.g., arms 130 discussed below) coupled to the table 100 to reach adesired treatment target on a patient P disposed on the table top 120.

In a robotically-assisted surgical procedure, one or more robotic arms130 (shown schematically in FIGS. 1C and 1D) can be disposed in adesired operative position relative to a patient disposed on the tabletop 120 of the surgical table 100 (also referred to herein as “table”).The robotic arm(s) can be used to perform a surgical procedure on apatient disposed on the surgical table 100. In particular, the distalend of each robotic arm can be disposed in a desired operative positionso that a medical instrument coupled to the distal end of the roboticarm can perform a desired function.

As shown schematically in FIGS. 1C and 1D, each robotic arm 130 caninclude a distal end portion 137 and a proximal end portion 136. Thedistal end portion 137 (also referred to herein as “operating end”) caninclude or have coupled thereto a medical instrument or tool 115. Theproximal end portion 136 (also referred to herein as the “mounting endportion” or “mounting end”) can include the coupling portion to allowthe robotic arm 130 to be coupled to the table 100. The robotic arm 130can include two or more link members or segments 110 coupled together atjoints that can provide for translation along and/or rotation about oneor more of the X, Y and/or Z axes (shown, for example, in FIGS. 1A and1B). The coupling portion of the robotic arm 130 can include a couplingmechanism 139. The coupling mechanism 139 can be disposed at themounting end 136 of the arm 130 and may be coupled to a segment 110 orincorporated within a segment 110. The robotic arm 130 also includes atarget joint J1 disposed at or near the mounting end 136 of the roboticarm 130 that can be included within the coupling mechanism 139 and/orthe coupling portion or can be disposed on a link or segment 110 of therobotic arm 130 that is coupled to the coupling portion. The targetjoint J1 can provide a pivot joint to allow a distal segment of therobotic arm 130 to pivot relative to the table 100. The robotic arm 130can be moved between various extended configurations for use during asurgical procedure, as shown in FIG. 1C, and various folded or collapsedconfigurations for storage when not in use, as shown in FIG. 1D.

FIGS. 2A-20C illustrate various embodiments describing apparatus andmethods for transporting, delivering, and securing a robotic arm to asurgical table. As described above and in accordance with variousembodiments disclosed in more detail below, a robotic arm for use inperforming a surgical procedure may be releasably coupled to a surgicaltable. In some embodiments, robotic arms can be coupled at a fixedlocation on the table or can be coupled such that the robotic arms canbe movable to multiple locations relative to the table top. For example,as shown schematically in FIG. 2A, robotic arms 230 can be coupled to atable top 220 of a surgical table 200. The surgical table 200 can be thesame or similar in structure and function to the surgical table 100described above. For example, the table top 220 has an upper surface onwhich a patient P can be disposed during a surgical procedure. In someembodiments, the robotic arms 230 can be permanently or releasablycoupled, in a fixed or movable location, to an arm adapter that iscoupled to or separate from the surgical table. For example, as shownschematically in FIG. 2B, an arm adapter 246 can be coupled to orseparate from but engageable with or couplable to the table top 220. Therobotic arms 230 can be coupled to the arm adapter 246.

In preparation for a robotically-assisted surgical procedure in whichone or more robotic arms are releasably coupled to the surgical tableand/or to an arm adapter, as described with respect to FIGS. 2A and 2B,each robotic arm may be delivered and connected to the surgical tableand/or the arm adapter via an arm cart. As shown schematically in FIG.3, an arm cart 350 can be configured to support one or more roboticarms. The arm cart 350 includes a first robotic arm 330A and can includean optional second robotic arm 330B. Although two robotic arms 330 areshown, the arm cart 350 can be configured to contain, transport, and/ordeliver any suitable number of robotic arms 330, such as, for example,one robotic arm, three robotic arms, or four robotic arms.

The arm cart 350 can support the first robotic arm 330A (and theoptional second robotic arm 330B) in a variety of configurations. Insome embodiments, the arm cart 350 can support the robotic arm 330A suchthat the center of gravity of the robotic arm 330A is below one or moresupport structure locations (e.g., cradles) of the arm cart 350 suchthat the stability of the robotic arm 330A and the arm cart 350 isincreased. In some embodiments, the arm cart 350 can support the roboticarm 330A such that the arm cart 350 bears most or all of the weight ofthe robotic arm 330A and a coupling mechanism (not shown) of the roboticarm 330A can be manually manipulated by a user without the user bearingthe most or all of the weight of the robotic arm. For example, therobotic arm 330A can be suspended from a structure of the arm cart 350or rested on a structure of the arm cart 350. In some embodiments, thearm cart 350 can be configured to secure the robotic arm 330 to the armcart 350.

The arm cart 330 can be configured for movement such as, for example, byincluding wheels. The arm cart 350 can be configured to protect therobotic arm 330A from potential impact with the surrounding of the armcart 350 during, for example, transport or storage. In some embodiments,the arm cart 350 can be configured to move the robotic arm 330 betweenone or more positions and/or one or more orientations, including, forexample, a folded storage or transport position and a deployed orcoupling position.

In some embodiments, the arm cart 350 can be configured to couple withone or more additional arm carts such that the two or more arm carts canbe moved together to transport a number of robotic arms 330. Forexample, the arm cart 350 can be a first arm cart and can include a cartcoupler (not shown) releasably coupleable to a mating cart coupler on asecond, substantially identical cart. The cart coupler can enable thefirst cart to be moved on a support surface (e.g., a floor) togetherwith the second cart. In some embodiments, the arm cart 350 can coupleto and move in unison with two to four other arm carts.

In some embodiments, the arm cart 350 can be shaped and sized such that,when not containing any robotic arms 330, the arm cart 350 can nest withother arm carts for more compact transportation of two or more empty armcarts. Said another way, the arm cart 350 can be a first arm cart andcan be configured to nest with a second, substantially identical cart sothat the first cart and the second cart collectively occupy less area ona support surface (e.g., a floor) when nested together than when notnested together. For example, FIG. 21A is a schematic illustration of aside view of a first arm cart 2650A and a second arm cart 2650B in anested configuration. The first arm cart 2650A and the second arm cart2650B can be the same or similar in structure and/or function to the armcart 350 described herein. For example, the first arm cart 2650A caninclude a first arm container 2652A and a first base 2654A, and thesecond arm cart 2650B can include a second arm container 2652B and asecond base 2654B. The arm containers 2652A and 2652B can be the sameand/or similar in structure and/or function to the arm container 352(described below). Similarly, the bases 2654A and 2654B can be the sameand/or similar in structure and/or function to the base 354 (describedbelow).

As shown in FIG. 21A, the first arm cart 2650A and the second arm cart2650B can be shaped and sized such that a portion of the second arm cart2650B can be inserted into an interior space of the first arm cart 2650Asuch that the second arm cart 2650B is nested within the first arm cart2650A, similar to the manner in which conventional shopping carts can benested together. Said another way, the arm containers 2652A and 2652Bcan be shaped and sized such that the second arm container 2652B can bepartially disposed within the first arm container 2652A and the secondbase 2654B can be partially disposed within the first base 2654A. Asshown in FIG. 21B, which is schematic illustration of a top view of thearm containers 2652A and 2652B, the arm containers 2652A and 2652B canhave an isosceles trapezoidal outer profile such that a narrower portionof the second arm container 2652B can fit within the first arm container2652A. Thus, when engaged as shown in FIG. 21A, the first arm cart 2650Aand the second arm cart 2650B can be moved (e.g., pushed) in unison fromone location to another. When desired, the first arm cart 2650A can beseparated from the second arm cart 2650B and each arm cart 2650A and2650B can be moved independently. While the first arm cart 2650A isshown and described as receiving the second arm cart 2650B, the secondarm cart 2650B can be shaped and sized such that the second arm cart2650B can also receive the first arm cart 2650A. For example, the firstarm cart 2650A and the second arm cart 2650B can be shaped and sizedsuch that the second arm cart 2650B can be nested within the first armcart 2650A. The first arm cart 2650A can then be disengaged from thesecond arm cart 2650B, and the second arm cart 2650B can receive thefirst arm cart 2650A within the second arm cart 2650B similarly to howthe first arm cart 2650A received the second arm cart 2650B. Althoughonly two arm carts are shown, any suitable number of arm carts shapedsimilarly to the first arm cart 2650A and the second arm cart 2650B canbe nested in series with the first arm cart 2650A or the second arm cart2650.

In some embodiments, rather than being shaped as an isosceles trapezoid,an arm cart can have any suitable shape such that the arm cart isconfigured to nest with another complementary or corresponding arm cart.For example, FIG. 22 is a schematic illustration of a top view of afirst arm cart 2750A and a second arm cart 2750B in a nestedconfiguration. The first arm cart 2750A and/or the second arm cart 2750Bcan be the same and/or similar in structure and/or function to the armcart 350 described above. The first arm cart 2750A and the second armcart 2750B are each substantially U-shaped such that the first arm cart2750A and the second arm cart 2750B can be nested via partiallydisposing a portion of the first arm cart 2750A within an interior spaceof the second arm cart 2750B. Thus, when engaged as shown in FIG. 22,the first arm cart 2750A and the second arm cart 2750B can be moved(e.g., pushed) in unison from one location to another. When desired, thefirst arm cart 2750A can be separated from the second arm cart 2750B andeach arm cart 2750A and 2750B can be moved independently. Although onlytwo arm carts are shown, any suitable number of arm carts shapedsimilarly to the first arm cart 2750A and the second arm cart 2750B canbe nested in series with the first arm cart 2750A or the second arm cart2750. For example, when the second arm cart 2750B is partially disposedwithin the interior space of the first arm cart 2750A, a third arm cart(not shown) shaped and sized similarly to the second arm cart 2750B canalso be disposed within the interior space of the first arm cart 2750Aadjacent the second arm cart 2750B and extending in the oppositedirection from the second arm cart 2750B.

In some embodiments, an arm cart can include a wye-shaped portion and/orcan include two front arm portions and one rear arm portion. Forexample, FIG. 23 is a schematic illustration of a top view of a firstarm cart 2850A and a second arm cart 2850B. The first arm cart 2850Aand/or the second arm cart 2850B can be the same and/or similar instructure and/or function to the arm cart 350 described above. The firstarm cart 2850A can include a first front arm portion 2891A, a secondfront arm portion 2892A, and a rear arm portion 2893A. The second armcart 2850B can include a first front arm portion 2891B, a second frontarm portion 2892B, and a rear arm portion 2893B. The first arm cart2850A can be disposed relative to the second arm cart 2850B such thatthe rear arm portion 2893A can be disposed in a space between the firstfront arm portion 2891B and the second front arm portion 2892B of thesecond arm cart 2850B. Thus, when engaged as shown in FIG. 23, the firstarm cart 2850A and the second arm cart 2850B can be moved (e.g., pushed)in unison from one location to another. When desired, the first arm cart2850A and the second arm cart 2850B can be separated from each other andmoved independently. Although the second arm cart 2850B is described asreceiving the first arm cart 2850A between the first front arm portion2891B and the second front arm portion 2892B, the first arm cart 2850can receive the rear arm portion 2893B can be received between the firstfront arm portion 2891A and the second front arm portion 2892A of thefirst arm cart 2850A. Although only two arm carts are shown, anysuitable number of arm carts shaped similarly to the first arm cart2850A and the second arm cart 2850B can be nested in series with thefirst arm cart 2850A or the second arm cart 2850.

In some embodiments, the arm cart 350 (e.g., an arm container and an armsupport of the arm cart 350) can be configured to fold or flatten into acompact storage configuration when not being used to transport or storerobotic arms. Said another way, the arm cart 350 can be movable from afirst, deployed configuration containing and supporting the robotic arm330 and a second, stowed configuration in which at least one of avertical, lateral, and longitudinal dimension of the arm cart 350 isless than in the deployed configuration.

The arm cart 350 can include an arm container 352 and a base 354. Thearm container 352 is configured to support, protect, and promotesterility for one or more robotic arms 330 (e.g., the first robotic arm330A and the optional second robotic arm 330B) during transportation ofthe robotic arms 330, for example, from a storage area to the operatingarea, and during transfer of the one or more robotic arms 330 from thearm cart 350 to a surgical table (e.g., the surgical table 100 and/orthe surgical table 200) for use during the surgical procedure. While theone or more robotic arms 330 are stored and/or transported by the armcart 350, the one or more robotic arms 330 can be mostly, substantiallycompletely, or completely maintained within the footprint of the armcart 350 such that the one or more robotic arms 330 will be less likelyto be accidentally bumped or damaged. In some embodiments, the armcontainer 352 can be structured as a vertically-extending protectionframe that, in combination with the base 354, defines a space forstoring the one or more robotic arms 330. In some embodiments, when theone or more robotic arms 330 are stored within the arm cart 350, therobotic arms can be maintained within the perimeter of the base 354, butmay extend beyond the perimeter of the arm container 352.

The arm container 352 can be further configured to facilitate safe,efficient, sterile, and repeatable transfer of the one or more roboticarms 330 to the surgical table and/or an arm adapter. In someembodiments, transfer of the one or more robotic arms 330 from the armcart 350 to the surgical table can be performed manually.

The base 354 can be configured to support the arm container 352 andprovide transportation of the arm cart 350 to the surgical area. Thebase 354 can include any suitable means for movement of the arm cart 350relative to the floor. For example, the base 354 can include wheels suchthat a medical provider can push/pull the arm cart to/from the operatingarea.

The arm cart 350 can include features that assist in aligning the one ormore robotic arms 330 for transfer to the surgical table along the X, Y,and/or Z axes and/or rotationally about the X, Y, and/or Z axes. Forexample, as described above, the base 354 can include any suitable meansfor movement of the arm cart 350 such that the arm cart 350 can be movedalong the X axis and/or the Y axis relative to the surgical table.Additionally, the arm cart 350 can include any suitable means foradjusting the height of the arm cart 350 and/or the one or more roboticarms 330 such that the height of the one or more robotic arms 330 can beadjusted relative to the surgical table. Thus, the arm cart 350 can movethe one or more robotic arms 330 along the X, Y, and/or Z axes and/orrotationally about the X, Y, and/or Z axes such that a coupling portionof at least one of the one or more robotic arms 330 can be aligned forengagement with a mating coupling portion on a table or a table adapter.

In some embodiments, the arm cart 350 houses the one or more roboticarms 330 such that a line of sight can be maintained from the operatorof the arm cart 350 to the portion of the surgical table to which theone or more robotic arms 330 are to be transferred during the approachof the arm cart 350 to the surgical table and the transfer of the one ormore robotic arms 330 to the surgical table.

As shown in FIG. 3, the arm cart 350 may optionally include one or moredocking stations 356 configured to be releasably attached to thesurgical table and/or an arms support connected to the surgical table.In this manner, the arm cart 350 can be fixed to the surgical tableand/or arms support during transfer of one or more robotic arms 330 fromthe arm cart 350, and then the arm cart 350 can be removed from theoperating area.

The one or more robotic arms 330 can be docked and/or mounted to thesurgical table 300 using a variety of different types of coupling and/ormounting methods and mechanisms. The arm cart 350 can employcorresponding coupling methods and mechanisms to provide efficienttransfer of the robotic arms 330 from the arm cart 350 to any suitablelocation on the surgical table 300 and/or an arms support associatedwith the surgical table 300. In this manner, the arm cart 350 and thesurgical table 300 can include a common interface such that the roboticarms 330 can be efficiently and repeatedly coupled to and/or removedfrom the surgical table 300 and the arm cart 350.

In some embodiments, a first coupling member associated with the roboticarm can be configured to engage with a second coupling member associatedwith the surgical table. For example, FIG. 4 is a schematic illustrationof an arm cart 1050 and a surgical table 1000. The arm cart 1050 can bethe same or similar in structure and/or function to any of the arm cartsdescribed herein (e.g., arm cart 350). For example, the arm cart 1050can include an arm container 1052 and a base 1054. The arm container1052 is configured to support, protect, and promote sterility for one ormore robotic arms 1030 (e.g., a first robotic arm 1030A and a secondrobotic arm 1030B) during transportation of the robotic arms 1030, forexample, from a storage area to the operating area, and during transferof the robotic arms 1030 from the arm cart 1050 to the surgical table1000 for use during the surgical procedure. The arm container 1052 isfurther configured to facilitate safe, efficient, sterile, andrepeatable transfer of the surgical arms 1030 to the surgical table1000. Transfer of the robotic arms 1030 from the arm cart 1050 to thesurgical table 1000 may be performed manually. The surgical table 1000can be the same or similar to any of the surgical tables describedherein (e.g., the surgical table 100). For example, the surgical table1000 includes a table top 1020, a support 1022, and a base 1024. Apatient P can be disposed on the table top 1020.

A first coupling member 1039 is coupled to the robotic arm 1030A. Asecond coupling member 1044 can be coupled to the table top 1020 and/orthe pedestal 1022 of the surgical table 1000. The first coupling member1039 and the second coupling member 1044 (also referred to herein incombination as a “coupler”) can include any suitable complementaryreleasable coupling means. In some embodiments, the arm cart 1050 and/orthe surgical table 1000 can include alignment features to assist inachieving the proper alignment (e.g., along and/or about the X, Y,and/or Z axes) between the first coupling member 1039 and/or the secondcoupling member 1044.

Although the second coupling member 1044 is shown as being disposed tothe side of the table top 1020, in some embodiments, the second couplingmember can be disposed on the bottom or the top of the table top 1020.Similarly, although the second coupling member 1044 is shown anddescribed as being coupled to the table top 1020, in some embodimentsthe second coupling member 1044 can be coupled to any suitable portionof the surgical table 1000, such as, for example, the pedestal 1022 orthe base 1024.

FIG. 5 is a flow chart of a method 400 of transporting and transferringsurgical robotic arms to a surgical table using a surgical robotic armcart, such as any of the arm carts described herein. The method 400includes optionally loading one or more robotic arms onto an arm cart,at 402. For example, one or more robotic arms can be releasably coupledto an arm support of the arm cart. The arm support can be coupled to abase of the arm cart to support the one or more robotic arms above thebase. The base can be freely movable on a support surface. The arm cartis then transported to an operating area and adjacent to a surgicaltable, at 404. In some embodiments, if not yet disposed in properalignment with the surgical table, an arm portion of a coupler disposedon at least one of the one or more robotic arms can be disposed inoperative relationship with a table portion of a coupler disposed on thesurgical table. The one or more robotic arms are coupled to the surgicaltable, at 406. For example, in some embodiments, the arm portion of thecoupler can be releasably coupled to the table portion of the coupler.The one or more robotic arms are released from the arm cart, at 408. Thearm cart is transported away from the operating area, at 410.

In some embodiments, rather than loading one or more robotic arms ontothe arm cart prior to transporting the arm cart to the operating areaand adjacent the surgical table, the one or more robotic arms can bealready loaded onto the arm cart. For example, the arm cart could bepre-loaded with one or more robotic arms such that a user does not needto load the arms prior to transporting the cart to an operating area. Insome embodiments, the arm cart can serve as a storage system for one ormore robotic arms when the arms are not in use such that the user doesnot need to load the arms onto the arm cart prior to using the arm cartto transport and/or transfer of the one or more robotic arms to thesurgical table.

In some embodiments, if a second robotic arm has been loaded onto thearm cart, the arm cart can couple a first robotic arm to the surgicaltable, release the first robotic arm from the arm cart, and then betransported to a location adjacent another portion of the surgicaltable. If not yet disposed in proper alignment with the surgical table,an arm portion of a second coupler disposed on the second robotic armcan be disposed in operative relationship with a table portion of asecond coupler disposed on the surgical table. The second robotic armcan then be coupled to the surgical table via, for example, the armportion of the second coupler being releasably coupled to the tableportion of the second coupler. The second robotic arm can be releasedfrom the arm cart and the arm cart can be transported away from theoperating area.

In some embodiments, an arm cart can move a robotic arm within the armcart such that a coupling member associated with the robotic arm can bepresented at a suitable location for engagement with a complementarycoupling member associated with a table. For example, the arm cart canadjust the robotic arm to various height settings such that the roboticarm can cooperate with various surgical tables and/or various couplingportions of a surgical table at varying heights. For example, in someembodiments, the arm cart can perform a first macro phase of heightadjustment within the arm cart in which the robotic arm cart is set to ahigh, medium, or low height range. The arm cart can then be moved intoposition relative to the surgical table such that the coupling member ofthe robotic arm is aligned with a coupling member associated with thesurgical table with respect to the X axis and/or Y axis. Then, in asecond micro phase of height adjustment, the arm cart can move thecoupling member of the robotic arm cart up or down along the Z axis intoengagement with the complementary coupling member of the surgical table.For example, the robotic arm cart can include a coupling member 1942such as is shown in FIG. 6A and the surgical table can include adovetail-shaped coupling member (not shown). After the arm cart sets therobotic arm at the appropriate macro setting of high, medium, or low,the arm cart can be moved toward the surgical table. When the arm cartis properly aligned along the X axis and the Y axis, the coupling member1942 can be lowered (along the Z axis) by the arm cart into engagementwith a dovetail-shaped coupling member of the surgical table. Similarly,rather than including the coupling member 1942, a robotic arm caninclude a coupling member 642 shaped such as is shown in FIG. 6B. Whenthe arm cart is properly aligned along the X axis and the Y axis, thecoupling member 642 can be raised (along the Z axis) into engagementwith a dovetail-shaped coupling member of the surgical table. Althoughnot shown, in some embodiments, a robotic arm can include both thecoupling member 1942 and the coupling member 642 such that the couplingmember 1942 can be moved down along the Z axis and the coupling member642 can be moved up along the Z axis to sandwich a coupling member of asurgical table.

FIGS. 7A-7C show various views of an arm cart 550 in a variety ofconfigurations, according to an embodiment. FIG. 7A is a perspectiveview of the arm cart 550. The arm cart 550 includes an arm container 552and a base 554. A first robotic arm 530A and a second robotic arm 530Bare releasably mounted to the arm cart 550. The arm container 552 caninclude an arm support 569 coupled to the base 554 and releasablycouplable to the robotic arms 530 above the base. The base 554 can befreely moveable on a support surface, such as, for example, a floor,between a first location remote from a surgical table and a secondlocation adjacent to the surgical table. For example, the base 554 canbe coupled to a number of wheels 568, such as, for example, three orfour wheels, such that the arm cart 550 is moveably supported on thesupport surface. The first robotic arm 530A can include an arm couplingmember 539A (also referred to as an “arm portion of a coupler”), and thesecond robotic arm 530B can include an arm coupling member 539B. Asshown in FIG. 7A, the arm support 569 can be coupled to the robotic arms530 at a support location 581 on each of the robotic arms 530, and thesupport location 581 can be spaced from the coupler 539 of each roboticarm 530.

The base 554, the arm container 552, and the arm support 569 can permitand/or control movement of the robotic arms 530 along and/or about theX, Y, and/or Z axes. When the base 554 is at the second locationadjacent to the surgical table, the arm support 569 and/or the armcontainer 552 can permit movement of one or both of the robotic arms 530between a first position in which one or both of the arm couplingmembers 539 are not engageable with a coupling site of the surgicaltable and a second position in which one or both of the arm couplingmembers 539 are engageable with the coupling site of the surgical table.In some embodiments, at least one of the arm coupling members 539 (e.g.,the first arm coupling member 539A) can be an arm portion of a couplerand a table portion of the coupler can be disposed on a surgical table.The arm support 569 can move the first robotic arm 530A such that thearm coupling member 539A is disposed in operative relationship with thetable portion of the coupler.

For example, FIG. 7B is a side view of the arm cart 550 in a stowedconfiguration in which the first robotic arm 530A and the second roboticarm 530B are disposed within the arm container 552. In the stowedconfiguration, the first robotic arm 530A and the second robotic arm530B can be transported via the arm cart 550. FIG. 7C is a side view ofthe arm cart 550 in a partially unfolded or deployed configuration inwhich the first robotic arm 530A and the second 530B have been rotatedrelative to the arm cart 550. The first robotic arm 530A and the secondrobotic arm 530B can each include one or more joints configured toengage with the arm support 569 of the arm cart 550 such that the armcart 550 can control the orientation and position of each of the roboticarms 530 relative to the arm cart 550. The rotation of the first roboticarm 530A and the second robotic arm 530B can expose an arm couplingmember of each of the first robotic arm 530A and the second robotic arm530B such that each of the arm coupling members 539 are properlydisposed for coupling to a surgical table, such as to a table portion ofa coupler.

In some embodiments, after the first arm coupling member 539A has beendisposed in operative relationship with a table portion of the couplerdisposed on the surgical table, the first arm coupling member 539A canbe releasably coupled to the table portion of the coupler. The firstrobotic arm 530A can then be uncoupled from the arm cart 550 and the armcart 550 can be moved on the support surface away from the locationadjacent the surgical table. In some embodiments, after the firstrobotic arm 530A has been releasably coupled to the surgical table, thearm cart 550 can be moved to a third location adjacent another portionof the surgical table. The second arm coupling member 539B can then bedisposed in operative relationship with a table portion of a secondcoupler disposed on the surgical table. The second arm coupling member539B can then be releasably coupled to the table portion of the secondcoupler. The second robotic arm 530B can then be uncoupled from the armcart 550 and the arm cart 550 can be moved on the support surface awayfrom the third location.

FIGS. 8A and 8B show a back and top view of an arm cart 750, accordingto an embodiment. The arm cart 750 can be the same or similar instructure and/or function to the arm cart 550 described with respect toFIGS. 7A-7C. As shown in FIG. 8A, the arm cart 750 includes an armcontainer 752 and a base 754. The arm cart 750 is configured to store,protect, and transport a first robotic arm 730A (shown in FIG. 8B) and asecond robotic arm 730B (also shown in FIG. 8B). The arm container 752can define side openings (e.g., first side opening 799A and second sideopening 799B) such that the first robotic arm 730A and/or the secondrobotic arm 730B can be transferred into the arm container 752 andremoved from the arm container 752 via the side openings 799A, 799B. Thefirst robotic arm 730A includes a first arm coupling member 739A and thesecond robotic arm 730B includes a second arm coupling member 739B. Asshown in FIG. 8B, the first robotic arm 730A and the second arm 730B areconfigured to engage with a surgical table 700. More specifically, thefirst arm coupling member 739A is configured to engage with a couplingmember 744A rotatably attached to the surgical table 700 and the secondarm coupling member 739B is configured to engage with a coupling member744B rotatably attached to the surgical table 700. When the first armcoupling member 739A is engaged with the coupling member 744A, the firstarm coupling member 739A can rotate the first robotic arm 730A laterallyout of a side of the arm cart 750 via side opening 799A along, forexample, arrow P-P. Similarly, when the second arm coupling member 739Bis engaged with the coupling member 744B, the second arm coupling member739B can rotate the second robotic arm 730B laterally out of a side ofthe arm cart 750 via side opening 799B along, for example, arrow P′-P′.Thus, the arm cart 750 can transfer the first robotic arm 730A and thesecond robotic arm 730B from the arm cart 750 to the surgical table 700.In some embodiments, the first coupling member 739A and the secondcoupling member 739B can rotate the first robotic arm 730A and thesecond robotic arm 730B, respectively, out of the arm cart 750simultaneously. In some embodiments, the first coupling member 739A andthe second coupling member 739B can rotate the first robotic arm 730Aand the second robotic arm 730B, respectively, out of the arm cart 750sequentially. In some embodiments, only one of the first robotic arm730A and the second robotic arm 730B can be rotated out of the arm cartby the first coupling member 739A or the second coupling member 739B,respectively, and the remaining first robotic arm 730A or second roboticarm 730B can be stored in the arm cart 750 until a later time.

FIG. 9 is a perspective view of an arm cart 850, according to anembodiment. The arm cart 850 can be the same or similar in structureand/or function to the arm cart 550 described with respect to FIGS.7A-7C. As shown in FIG. 9, the arm cart 850 includes an arm container852 and a base 854. A first robotic arm 830A and a second robotic arm830B are releasably mounted to the arm cart 850. The first robotic arm830A includes a coupling member 839A and the second robotic arm 830Bincludes a coupling member 839B. The first coupling member 839A and thesecond coupling member 839B both include latch shaped elements such thatthe first coupling member 839A and the second coupling member 839B areconfigured to couple the first robotic arm 830A and the second roboticarm 830B to a surgical table (not shown).

FIGS. 10A and 10B show a side view of an arm cart 950 in a first, stowedconfiguration and a second, deployed configuration, according to anembodiment. The arm cart 950 can be the same or similar in structureand/or function to any of the arm carts described herein, such as armcart 550 described with respect to FIGS. 7A-7C. FIG. 10A is a side viewof the arm cart 950 in a stowed configuration. The arm cart 950 includesan arm container 952 and a base 954. The base 954 can be freely moveableon a support surface, such as, for example, a floor, between a firstlocation remote from a surgical table and a second location adjacent tothe surgical table. The arm container 952 can be coupled to and extendupwardly from the base 954. An arm support 969 can be coupled to the armcontainer 952 and/or the base 954. The arm support 969 can be releasablycoupleable to a robotic arm 930 to support the robotic arm 930 and/orcontrol the position of the robotic arm 930. The robotic arm 930 caninclude a coupler 939 releasably coupleable to a coupling site on asurgical table (not shown). Although only one robotic arm 930 is shownand described, any suitable number of robotic arms can be stored,transported, and/or transferred by the arm cart 950.

In the stowed configuration, the entire robotic arm 930 except thecoupler 939 can be substantially disposed or contained within the armcontainer 952 and can be stored, protected, and transported via the armcart 950. During movement of the arm cart 950 on the support surface,the arm container 952 can protect the robotic arm 930 from impact withobjects. As shown in FIG. 10B, which is a side view of the arm cart 950in a partially unfolded or deployed configuration, the arm support 969can move the robotic arm 930 linearly upward along the Z-axis.

In use, with the arm cart 950 in the stowed configuration shown in FIG.10A, the arm cart 950 can be moved on the support surface from the firstlocation remote from the surgical table to the second location adjacentthe surgical table. When the arm cart 950 is adjacent the surgical tableand the arm cart 950 is in the stowed configuration, the coupler 939 maynot be engageable with the coupling site of the surgical table. The armsupport 969 can then permit movement of the robotic arm 930 (e.g., vialifting the robotic arms 930 along the Z axis) between the stowedposition and the deployed position in which the coupler 939 isengageable with the coupling site when the base 954 is at the secondlocation.

FIG. 11 is a schematic illustration of a portion of an arm cartsupporting two robotic arms. As shown in FIG. 11, the arm cart 1250includes a vertical post 1298. The vertical post can provide at leastone translation path for robotic arms along the Z-axis. The arm cart1250 also includes a first arm cradle 1253A and a second arm cradle1253B. The first arm cradle 1253A is configured to support a firstrobotic arm 1230A and the second arm cradle 1253B is configured tosupport a second robotic arm 1230B. The first arm cradle 1253A is alsoconfigured to control the rotational position of at least a portion ofthe first robotic arm 1230A relative to the vertical post 1298 and/or asurgical table. Similarly, the second arm cradle 1253A is alsoconfigured to control the rotational position of at least a portion ofthe second robotic arm 1230B relative to the vertical post 1298 and/or asurgical table. The first robotic arm 1230A includes a first armcoupling member 1239A. Similarly, the second robotic arm 1230B includesa second arm coupling member 1239B.

The arm cart 1250 can rotate the first arm cradle 1253A and cantranslate the first arm cradle 1253A along a Z-axis translation path.Thus, when a first robotic arm 1230A is disposed in the first arm cradle1253A, the arm cart 1250 can control the Z-axis and rotational positionsof the first arm cradle 1253A and the first robotic arm 1230A. The armcart 1250 can rotate the first robotic arm 1230A such that the first armcoupling member 1239A is exposed and positioned for engagement with asurgical table, as shown in FIG. 11. In such a position, the firstrobotic arm 1230A can be disposed in the first arm cradle 1253A suchthat the first robotic arm 1230A extends vertically upward from thefirst arm cradle 1253A. Additionally, the first arm cradle 1253A canrotate the first robotic arm 1230A, for example, from the configurationand orientation of the first robotic arm 1230A shown in FIG. 11 to theconfiguration and orientation of the second robotic arm 1230B shown inFIG. 11.

Similarly, the arm cart 1250 can rotate the second arm cradle 1253B andcan translate the second arm cradle 1253B along a Z-axis translationpath. Thus, when a second robotic arm 1230B is disposed in the secondarm cradle 1253B, the arm cart 1250 can control the Z-axis androtational positions of the second arm cradle 1253B and the secondrobotic arm 1230B. The arm cart 1250 can rotate the second robotic arm1230B such that the second arm coupling member 1239B is exposed andpositioned for engagement with a surgical table, as shown in FIG. 11. Insuch a position, the second robotic arm 1230B can be disposed in thesecond arm cradle 1253B such that the second robotic arm 1230B extendsvertically downward from the second arm cradle 1253B. Additionally, thesecond arm cradle 1253B can rotate the second robotic arm 1230B, forexample, from the configuration and orientation of the second roboticarm 1230B shown in FIG. 11 to the configuration and orientation of thefirst robotic arm 1230A shown in FIG. 11.

FIG. 12 is a perspective view of an arm cart in a docking configuration.As shown in FIG. 12, an arm cart 1450 can include an arm container 1452,a base 1454, and an arm support or carriage 1469. The arm cart 1450 canbe the same or similar in structure and/or function to any of the armcarts described herein. For example, the base 1454 can be freelymoveable on a support surface, such as, for example, a floor, between afirst location remote from a surgical table and a second locationadjacent to the surgical table. The base 1454 can be coupled to a numberof wheels 1468, such as, for example, three or four wheels, such thatthe arm cart 1450 is moveably supported on the support surface. The armsupport 1469 can translate relative to the arm container 1452 alongarrow Q-Q between, for example, the docking position shown in FIG. 12and a stowed or transport position (not shown). A robotic arm 1430 isreleasably mounted to the arm cart 1450 via the arm support 1469. Therobotic arm 1430 includes an arm coupling member 1439 (also referred toas a “coupler”). The arm support 1469 is coupleable to the robotic arm1430 at a support location 1481 (e.g., an intermediate pivot jointdistal to the coupler 1439) on the arm, the support location 1481 beingspaced from the arm coupling member 1439. When the robotic arm 1430 isin a stowed position (not shown) in which the robotic arm 1430 is atleast partially disposed within the arm container 1452, the arm cart1450 is configured to support the robotic arm 1430 with the center ofgravity of the arm 1430 being below the arm support 1469. Additionally,when the robotic arm 1430 is in the stowed position, the arm container1452 is configured to protect the robotic arm 1430 from impact withobjects during movement of the arm cart 1450.

As shown in FIG. 12, the robotic arm 1430 can be translated by the armsupport 1469 relative to the arm container 1452 along arrow Q-Q from astowed to a docking position. Additionally, when in the dockingconfiguration shown in FIG. 12, at least a portion of the robotic arm1430 can move rotationally relative to the arm support 1469 along arrowA-A from the stowed configuration to a docking configuration (as shownin FIG. 12). The rotation of the robotic arm 1430 can expose the side ofthe arm coupling member 1439 configured for coupling to a table suchthat the arm coupling member 1439 is properly disposed for coupling tothe table. In the docking configuration shown in FIG. 12, the arm cart1450 can move into position relative to a surgical table such that thearm coupling member 1439 can couple with a mating coupling memberassociated with the surgical table. Said another way, when in the stowedconfiguration, the arm coupling member 1439 is disposed within the armcontainer 1452. When in the deployed configuration, the arm couplingmember 1439 is disposed outside of the arm container 1452. As shown inFIG. 12, the arm coupling member 1439 is proximate to a first end of therobotic arm 1430, the support location 1481 is proximate to a second endof the robotic arm 1430 opposite the first end of the robotic arm 1430,and the arm cart 1450 is configured to support the robotic arm 1430 withthe arm coupling member 1439 disposed below the support location 1481when the robotic arm 1430 is disposed in the docking configuration. Oncein the docking configuration and properly aligned with a coupling siteof a surgical table, the robotic arm 1430 can be transferred to thesurgical table and the arm cart 1450 can be moved away from the surgicaltable.

Although not shown, in some embodiments the arm cart 1450 can beconfigured to support and transfer a second robotic arm to a secondcoupling site on a surgical table. In such embodiments, the arm cart1450 can include a second arm support. A second robotic arm can beloaded onto the arm cart 1450 and into engagement with the second armsupport. After transferring the robotic arm 1430 to a first couplingsite of a surgical table as described above, the arm cart 1450 can bemoved, with the second robotic arm in a stowed configuration, via thebase 1454 to another location near the surgical table. The second armsupport can then rotate the second robotic arm similarly as describedabove from the stowed configuration to the deployed configuration suchthat an arm coupling member of the second robotic arm can be disposed ina proper position for engagement with a second mating coupling memberassociated with the surgical table. Once in the docking configurationand properly aligned with a coupling site of a surgical table, thesecond robotic arm can be transferred to the surgical table and the armcart 1450 can be moved away from the surgical table.

FIGS. 13A-13F are various views of an arm cart 1850 in a variety ofconfigurations. The arm cart 1850 can be the same or similar instructure and/or function to any of the arm carts described herein. Forexample, FIGS. 13A and 13B are a perspective view and a side view of thearm cart 1850, respectively. The arm cart 1850 can include an armcontainer 1852 and a base 1854. The arm container 1852 is configured tosupport, protect, and promote sterility for a robotic arm 1830 duringtransportation of the robotic arm 1830, for example, from a storage areato the operating area, and during transfer of the robotic arm 1830 fromthe arm cart 1850 to a surgical table for use during the surgicalprocedure. The arm container 1852 can be coupled to the base 1854 andreleasably couplable to the robotic arm 1830 above the base. The base1854 can be freely moveable on a support surface, such as, for example,a floor, between a first location remote from a surgical table and asecond location adjacent to the surgical table. For example, the base1854 can be coupled to a number of wheels 1868, such as, for example,three or four wheels, such that the arm cart 1850 is moveably supportedon the support surface. The robotic arm 1830 includes an arm couplingmember 1839 (also referred to as a “coupler”). The base 1854 and the armcontainer 1852 can permit and/or control movement of the robotic arm1830 along and/or about the X, Y, and/or Z axes. When the base 1854 isat the second location adjacent to the surgical table, the arm container1852 can permit movement of the robotic arm 1830 between a firstposition in which the arm coupling member 1839 is not engageable with acoupling site of the surgical table and a second position in which thearm coupling member 1839 is engageable with the coupling site of thesurgical table.

As shown in FIG. 13C, which is a side view of the arm cart 1850 in astowed configuration, the arm cart 1850 can include a cradle 1857 (alsoreferred to as an “arm support”) to support the robotic arm 1830.Additionally, the arm cart 1850 can include a handle 1859 for engagementby the operator and easier maneuvering of the arm cart 1850. The cradle1857 can be configured to releasably engage with and/or support a jointof the robotic arm 1830. The cradle 1857 can be coupled to the roboticarm 1830 at a support location 1881 on the robotic arm 1830, and thesupport location 1861 can be spaced from the coupling member 1839 of therobotic arm 1830. The cradle 1857 can be translatable in the Z-directionto control the vertical position of the robotic arm 1830. For example,FIGS. 13D-13F show the arm cart 1850 in three stages of a couplingoperation. As shown in FIG. 13D, the cradle 1857 supports the roboticarm 1830 at least partially within the arm container 1852 such that therobotic arm 1830 such that the robotic arm 1830 is protected by the armcontainer 1852 and can articulate as needed. In the stowedconfiguration, the entire robotic arm 1830 except the coupler 1839 canbe substantially disposed or contained within the arm container 1852 andcan be stored, protected, and transported via the arm cart 1850. Duringmovement of the arm cart 1850 on the support surface, the arm container1852 can protect the robotic arm 1830 from impact with objects.

As shown in FIG. 13E, the cradle 1857 can linearly move the robotic arm1830 vertically along arrow B-B such that the arm coupling member 1839is raised along the Z axis and rotated along arrow C-C. In someembodiments, the robotic arm 1830 can be moved along the Z axis suchthat the arm coupling member 1839 is aligned with, for example, acoupling member associated with a surgical table, such as a surgicaltable that is the same or similar in structure and/or function to any ofthe surgical tables described herein (e.g., the surgical table 100). Insome embodiments, the arm coupling member 1839 can be raised high enoughsuch that the arm coupling member 1830 overshoots a coupling memberassociated with a surgical table along the Z axis. By overshooting alongthe Z axis, the arm coupling member 1839 can still engage with asurgical table in the case of a mismatch between the height of thesurgical table and the height of the arm cart 1850. For example, asshown in FIG. 13F, after the cradle 1857 has raised the robotic arm 1830such that the arm coupling member 1839 is at the Z-axis position shownin FIG. 13E, the cradle 1857 can move downward along arrow D-D such thatthe arm coupling member 1839 of the robotic arm 1830 is lowered withrespect to the arm cart 1850 and travels along arrow E-E. In such aposition, if the arm cart 1850 is aligned with a coupling member of asurgical table with respect to the X axis and the Y axis, the armcoupling member 1839 may engage with the coupling member associated withthe surgical table. In some embodiments, the robotic arm 1830 canarticulate before the cradle 1857 moves downward such that the roboticarm 1830 is closer to the surgical table along the X axis to effectivelylatch with the coupling member of the surgical table. In someembodiments, the distance along the Z axis that the arm coupling member1839 may move can be, for example, 6 inches or more.

Although the arm cart 1850 is described as storing, deploying, andtransferring only one robotic arm 1830, in some embodiments the arm cart1850 can store, deploy, and transfer a second robotic arm similarly asdescribed above with respect to the robotic arm 1830. For example, boththe robotic arm 1830 and a second robotic arm can be loaded onto the armcart 1850 prior to transfer of either robotic arm to a surgical table.The arm cart 1850 can include a second arm support and the secondrobotic arm can be loaded into engagement with the second arm support.After transferring the robotic arm 1830 to a first coupling site of asurgical table as described above, the arm cart 1850 can be moved, withthe second robotic arm in a stowed configuration, via the base 1854 toanother location near the surgical table. The second arm support canthen move the second robotic arm similarly as described above from thestowed configuration to the deployed configuration such that an armcoupling member of the second robotic arm can be disposed in a properposition for engagement with a second mating coupling member associatedwith the surgical table. Once in the docking configuration and properlyaligned with a coupling site of a surgical table, the second robotic armcan be transferred to the surgical table and the arm cart 1850 can bemoved away from the surgical table.

FIGS. 14A-14C show side views of an arm cart 2050 in threeconfigurations during a coupling operation. The arm cart 2050 can be thesame or similar in structure and/or function to any of the arm cartsdescribed herein. For example, the arm cart 2050 can include an armcontainer 2052 and a base 2054. The arm container 2052 is configured tosupport, protect, and promote sterility for a robotic arm 2030 duringtransportation of the robotic arm 2030, for example, from a storage areato the operating area, and during transfer of the robotic arm 2030 fromthe arm cart 2050 to a surgical table for use during the surgicalprocedure. The arm container 2052 can be coupled to the base 2054 andreleasably couplable to the robotic arm 2030 above the base. The base2054 can be freely moveable on a support surface, such as, for example,a floor, between a first location remote from a surgical table and asecond location adjacent to the surgical table. For example, the base1854 can be coupled to a number of wheels 1868, such as, for example,three or four wheels, such that the arm cart 1850 is moveably supportedon the support surface. The robotic arm 2030 includes an arm couplingmember 2039 (also referred to as a “coupler”). The base 2054 and the armcontainer 2052 can permit and/or control movement of the robotic arm2030 along and/or about the X, Y, and/or Z axes. When the base 2054 isat the second location adjacent to the surgical table, the arm container2052 can permit movement of the robotic arm 2030 between a firstposition in which the arm coupling member 2039 is not engageable with acoupling site of the surgical table and a second position in which thearm coupling member 2039 is engageable with the coupling site of thesurgical table.

Unlike the arm cart 1850 described above with reference to FIGS.13A-13F, the arm cart 2050 does not include a cradle for translating therobotic arm 2030 in the Z direction (i.e., vertically). Rather, the armcart 2050 includes a lever 2058 (also referred to as an “arm support”)configured to control the position of the arm coupling member 2039 ofthe robotic arm 2030. The lever 2058 can be actuated through anysuitable actuation means. For example, the lever 2058 can beuser-actuated. The lever 2058 can be used to lift the arm couplingmember 2039 and lower the arm coupling member 2039 into engagement with,for example, a coupling member associated with a surgical table (notshown) (e.g., a rail). The lever 2058 can include a four bar link or anover center mechanism such that the lever 2058 can move the arm couplingmember 2039 through a high arc for greater flexibility along the Z axis.The arm cart 2050 can be configured to support the robotic arm 2030 inthe first, stowed position when the robotic arm 2030 has a center ofgravity disposed below the lever 2058. Similarly, the arm cart 1850 canbe configured to support the robotic arm 2030 in the second, deployedposition when the robotic arm 2030 also has a center of gravity disposedbelow the lever 2058.

In use, as shown in FIG. 14A, the robotic arm 2030 can be disposed atleast partially within the arm container 2052. In the stowedconfiguration, the entire robotic arm 2030 except the coupler 2039 canbe substantially disposed or contained within the arm container 2052 andcan be stored, protected, and transported via the arm cart 2050. Duringmovement of the arm cart 2050 on the support surface, the arm container2052 can protect the robotic arm 2030 from impact with objects. The armcart 2050 can be pushed into adjoining or abutting contact with, forexample, a coupling member associated with a surgical table, such as asurgical table the same or similar to any of the surgical tablesdescribed herein (e.g., the surgical table 100). As shown in FIG. 14B,when the lever 2058 is pushed, such as along arrow F-F, the lever 2058can rotationally move the robotic arm 2030 such that the arm couplingmember 2039 vertically overshoots the coupling member associated withthe surgical table along the Z axis. By overshooting along the Z axis,the arm coupling member 2039 can still engage with the coupling memberof the surgical table in the case of a mismatch between the height ofthe surgical table and the height of the arm cart 2050. For example, asshown in FIG. 14C, after the lever 2058 has lifted the robotic arm 2030such that the arm coupling member 2039 is at the Z-axis position shownin FIG. 14B, the lever 2058 can lower the arm coupling member 2039 suchthat the arm coupling member 2039 of the robotic arm 2030 is loweredwith respect to the arm cart 2050. In such a position, if the arm cart1050 is aligned with a coupling member of a surgical table with respectto the X axis and Y axis, the arm coupling member 2039 may engage withthe coupling member associated with the surgical table. In someembodiments, the robotic arm 2030 can articulate before the lever 2058lowers the robotic arm 2030 such that the robotic arm 2030 is closer tothe surgical table in the X-direction to effectively latch with thecoupling member of the surgical table. In some embodiments, the distancealong the Z-axis that the arm coupling member 2030 may move can be, forexample, 6 inches or more.

Although the arm cart 2050 is described as storing, deploying, andtransferring only one robotic arm 2030, in some embodiments the arm cart2050 can store, deploy, and transfer a second robotic arm similarly asdescribed above with respect to the robotic arm 2030. For example, boththe robotic arm 2030 and a second robotic arm can be loaded onto the armcart 2050 prior to transfer of either robotic arm to a surgical table.The arm cart 2050 can include a second arm support and the secondrobotic arm can be loaded into engagement with the second arm support.After transferring the robotic arm 2030 to a first coupling site of asurgical table as described above, the arm cart 2050 can be moved, withthe second robotic arm in a stowed configuration, via the base 2054 toanother location near the surgical table. The second arm support canthen move the second robotic arm similarly as described above from thestowed configuration to the deployed configuration such that an armcoupling member of the second robotic arm can be disposed in a properposition for engagement with a second mating coupling member associatedwith the surgical table. Once in the docking configuration and properlyaligned with a coupling site of a surgical table, the second robotic armcan be transferred to the surgical table and the arm cart 2050 can bemoved away from the surgical table.

In some embodiments, an arm cart can be coupled to a robotic arm viaspring-loaded cart arms. For example, FIG. 15A is a schematicillustration of a cross-sectional front view of an arm cart 2150 and arobotic arm 2130 in an uncoupled configuration. The arm cart 2150 can bethe same or similar in structure and/or function to any of the arm cartsdescribed herein. For example, the arm cart 2150 can include an armcontainer (not shown) and a base (not shown). The arm cart 2150 caninclude a first cart arm 2156A and a second cart arm 2156B coupled tothe arm container and/or base via a first spring-loaded couplingmechanism 2155A and a second spring-loaded coupling mechanism 2155B.Thus, the first cart arm 2156A and the second cart arm 2156B arespring-biased along arrows G-G and G′-G′, respectively. The first cartarm 2156A and the second cart arm 2156B can include a first engagementfeature 2151A and a second engagement feature 2151B, respectively.

The robotic arm 2130 can include a target joint J1 ₂₁₃₀ disposed at ornear a mounting end of the robotic arm 2130. The target joint J1 ₂₁₃₀can include a first detent 2133A and a second detent 2133B forengagement with the engagement feature 2151A of the first cart arm 2156Aand the second engagement feature 2151B of the second cart arm 2156B,respectively. For example, FIG. 15B is a schematic side view of therobotic arm 2130. As shown in FIG. 15B, the target joint J1 ₂₁₃₀includes the detent 2133A. The detent 2133A can be shaped and sized forengagement with the engagement feature 2151A of the first cart arm2156A. In some embodiments, the detents 2133A and 2133B and theengagement features 2151A and 2151B can be shaped and sized such that,upon engagement of the detent 2133A with the engagement feature 2151Aand the detent 2133B with the engagement feature 2151B, the cart arms2156A and 2156B can control the location and rotational position of thetarget joint J1 ₂₁₃₀.

In use, as shown in FIG. 15A, the arm cart 2150 and/or the robotic arm2130 can be moved into proximity with each other such that the cart arms2156A and 2156B can move into engagement with the robotic arm 2130. Thecart arms 2156A and 2156B can then be moved along arrows G-G and G′-G′,respectively, via the spring-loaded coupling mechanisms 2155A and 2155B.As shown in FIG. 15C, which is a cross-sectional front view of the armcart 2150 in a coupled configuration with the robotic arm 2130, theengagement features 2151A and 2151B can lockingly engage with thedetents 2133A and 2133B of the robotic arm 2130. Upon lockingengagement, the arm cart 2150 can rotate the robotic arm 2130 via thecart arms 2156A and 2156B as shown by arrow H-H into a storage positionor a deployment position. In some embodiments, after moving the roboticarm 2130 into a storage or deployment position, the cart arms 2156A and2156B can decouple from the robotic arm 2130 and can engage anotherrobotic arm for storage and/or deployment of the other robotic arm.While the cart arms 2156A and 2156B are described as coupling with thetarget joint J1 ₂₁₃₀, in some embodiments the cart arms 2156A and 2156Bcan be configured to engage a different structure associated with therobotic arm 2130.

Although not shown in FIGS. 15A-15C, the robotic arm 2130 can include atable coupling mechanism configured to releasably couple to a couplingsite on a surgical table. The table coupling mechanism can have a firstlatching configuration with a first release force and a second latchingconfiguration with a second release force greater than the first releaseforce. For example, in some embodiments, the table coupling mechanismcan be in the first latching configuration when the table couplingmechanism has been inserted into engagement with a mating couplingmechanism on a surgical table, but the table coupling mechanism can bepulled out of engagement if the arm cart 2150 moves away from thesurgical table, pulling the robotic arm 2130. The table couplingmechanism can be in the second latching configuration if an additionallatching element locks the table coupling mechanism to the tablecoupling mechanism such that if the arm cart 2150 moves away from thesurgical table, the robotic arm 2130 remains coupled to the surgicaltable. Additionally, in some embodiments, the force required to dislodgethe engagement features 2151A and 2151B from engagement with the detents2133A and 2133B can be greater than the first release force and lessthan the second release force. Thus, if the table coupling mechanism isin the first latching configuration, the robotic arm 2130 will not beseparated from the arm cart 2150 if the arm cart 2150 is pulled awayfrom the surgical table. If the table coupling mechanism is in thesecond latching configuration, however, the robotic arm 2130 will beseparated from the arm cart 2150 and remain coupled to the surgicaltable upon movement of the arm cart 2150 away from the surgical table.

FIG. 16 is a schematic illustration of a coupling mechanism rotationallycoupled to an arm container and configured to releasably lock to arobotic arm. FIG. 16 is a schematic illustration of a robotic arm 1730and a coupling mechanism 1761 rotationally coupled to an arm container1752. As shown in FIG. 16, the coupling mechanism 1761 is rotationallycoupled to the arm container 1752 via a pivot joint 1763. The armcontainer 1752 can be the same or similar in structure and/or functionto any of the arm containers described herein. The coupling mechanism1761 includes engagement features 1755 and is configured to rotate alongarrow I-I. The robotic arm 1730 includes a target joint J1 ₁₇₃₀ and acoupling mechanism 1731. An arm coupling member 1739 is attached to thecoupling mechanism 1731. The arm coupling member 1739 can be configuredfor attachment of the robotic arm 1730 to a surgical table (not shown).The coupling mechanism 1731 of the robotic arm 1730 can includeengagement features 1733. The engagement features 1733 can be shaped andsized for engagement with the engagement features 1755 of the couplingmechanism 1761 of the arm container 1752.

In use, the coupling mechanism 1761 coupled to the arm container 1752can be lockingly engaged with the coupling mechanism 1731 of the roboticarm 1730 via the engagement features 1755 and the engagement features1733. When the coupling mechanism 1761 and the coupling mechanism 1731are lockingly engaged, the coupling mechanism 1761 can be rotated, suchas along arrow I-I, such that the robotic arm 1730 is also rotated.Thus, the arm container 1752 can control the location and rotationalposition of the robotic arm for storage and/or deployment. In someembodiments, the latching and rotating of the coupling mechanism 1761and the coupling mechanism 1731 can be controlled by the user via, forexample, a lever or button.

FIG. 17 is a schematic illustration of an arm cart 2250 engaged with arobotic arm 2230. The arm cart 2250 can be the same or similar instructure and/or function to any of the arm carts described herein. Forexample, the arm cart 2250 can include an arm support 2269 and a base2254. The base 2254 can be freely moveable on a support surface, suchas, for example, a floor, between a first location remote from asurgical table and a second location adjacent to the surgical table. Forexample, the base 2254 can be coupled to a number of wheels 2268, suchas, for example, three or four wheels, such that the arm cart 2250 ismoveably supported on the support surface. A docking assembly 2265 canbe coupled to the arm support 2269 via a cradle 2261. The cradle 2261can rotate relative to the arm support 2269 such that the dockingassembly 2265 rotates along arrow J-J. The rotation of the cradle 2261can be assisted by mechanical means such as springs, shocks, pressurecylinders, and/or a motor. The docking assembly 2265 can include adocking pin 2267. The docking pin 2267 can include a spring 2262 and twoor more balls 2264.

The robotic arm 2230 can be the same or similar in structure and/orfunction to any of the robotic arms described herein. For example, therobotic arm 2230 can include a target joint J1 ₂₂₃₀ and an arm couplingmember 2239 (also referred to as a “coupler”). The arm coupling member2239 can include an engagement feature 2233 configured for engagementwith the docking pin 2267. The engagement feature 2233 can be shaped,for example, as a cylindrical space with detents having a shapecomplementary to the balls 2264 of the docking pin 2267.

In use, the robotic arm 2230 can be coupled to the arm cart 2250 via thedocking assembly 2265. The docking pin 2267 of the docking assembly 2265can be inserted into the engagement feature 2233 of the arm couplingmember 2239 until the spring 2263 pushes the balls 2264 outwardly intoreleasable engagement with the detents 2233 such that the robotic arm2230 and the arm cart 2250 are in a coupled configuration, as shown inFIG. 17. When in the coupled configuration, the robotic arm 2230 can berotated between a stored and deployed position via the cradle 2261 alongarrow J-J. When in the stored position, the arm cart 2250 can be movedfrom the first location remote from the surgical table to the secondlocation adjacent the surgical table. The robotic arm 2230 can then berotated via the cradle 2261 along arrow J-J such that the arm couplingmember 2239 is engageable with a coupling site of the surgical table.The robotic arm 2230 can then be engaged with the surgical table via thearm coupling member 2239. To release the robotic arm 2230 from the armcart 2250, a pulling force can be applied to the docking pin 2267sufficient to overcome the force of the spring 2262 holding the balls2264 in the detents of the engagement feature 2233 and to withdraw thedocking pin 2267 from the engagement feature 2233. The arm cart 2250 canthen be moved away from the robotic arm 2230 and the surgical table.

In some embodiments, a robotic arm can be suspended from a rail on anarm cart such that the arm cart supports the weight of the robotic armand the mounting end of the robotic arm can be manually manipulated by auser into engagement with, for example, a surgical table without theuser having to support the entire weight of the robotic arm. Forexample, FIG. 18 is a schematic perspective view of an arm cart 2350.The arm cart 2350 can include an arm container 2352 and a base 2354. Thebase 2354 can be freely moveable on a support surface, such as, forexample, a floor, between a first location remote from a surgical tableand a second location adjacent to the surgical table. For example, thebase 2354 can be coupled to a number of wheels (not shown), such as, forexample, three or four wheels, such that the arm cart 2350 is moveablysupported on the support surface.

The arm cart 2350 can include an arm support 2369. The arm support 2369can be coupled to the base 2354 and can be releasably coupleable to arobotic arm (not shown) to support the robotic arm above the base 2354and, when the base 2354 is positioned at the second location adjacent tothe surgical table, permit movement of the arm between a first positionin which a coupler of the robotic arm is not engageable with a couplingsite of the surgical table and a second position in which the coupler isengageable with the coupling site. The arm cart 2350 is configured tosupport the robotic arm in both the first position and second position,the center of gravity of the robotic arm being disposed below the armsupport 2369 when the arm is in both the first position and the secondposition.

More specifically, the arm support 2369 can include an elongate roboticarm rail 2372. A robotic arm can be suspended from the robotic arm rail2372 at a support location of the robotic arm spaced from a mounting endor coupler of the robotic arm. The robotic arm can be slid along therobotic arm rail 2372 such that the mounting end or coupler of therobotic arm can hang below the support location of the robotic arm andthe user can manipulate the mounting end or coupler of the robotic armrelative to the surgical table. Additionally, in some embodiments, therobotic arm rail 2372 is coupled to an upper robotic arm rail 2376 via aramp 2374. Thus, a robotic arm can be slid from the robotic arm rail2372, up the ramp 2374, and along the upper robotic arm rail such thatthe robotic arm is position at a higher location along the Z axis andmay be easier to couple with, for example, a surgical table.

The arm container 2352 can include one or more walls 2378 for protectingthe robotic arm when the robotic arm is suspended from the robotic armrail 2372. In some embodiments, the arm cart 2350 can be configured tosupport the robotic arm at least partially within the arm container 2352when the arm is disposed in the first position to protect the roboticarm from impact with objects during movement of the arm cart 2352 on thesupport surface. In some embodiments, the arm cart 2350 can beconfigured to support the entire robotic arm except the coupler withinthe arm container 2352 when the arm is disposed in the first position.In some embodiments, the arm cart 2350 can be configured to support thearm such that the coupler is disposed within the arm container 2352 whenthe arm is disposed in the first position and such that the coupler isdisposed outside the arm container 2352 when the arm is disposed in thesecond position. The arm container 2352 can also include one or more armcart side rails 2371 to further protect any robotic arms suspended fromthe robotic arm rail 2372 and to allow for the user to push or pull thearm cart 2350 via the side rail 2371.

In use, the robotic arm can be suspended from the arm support 2369 andthe arm cart 2352 can be moved from the first location remote from thesurgical table to the second location adjacent to the surgical table.The robotic arm can then be slid along the arm support 2369 such that acoupler of the robotic arm is closer to the coupling site of thesurgical table. The user can then maneuver (e.g., by hand) the couplerof the robotic arm such that the coupler is releasably coupled with thecoupling site of the surgical table. Upon engagement, the weight of therobotic arm can be supported by the surgical table and the robotic armcan be disengaged from the arm support 2369. The arm cart 2352 can thenbe moved away from the surgical table and the robotic arm.

Although the arm cart 2350 is described as storing and transferring onlyone robotic arm 2330, in some embodiments the arm cart 2350 can storeand transfer a second robotic arm similarly as described above. Forexample, both the robotic arm described above and a second robotic armcan be loaded onto the arm support 2369 prior to transfer of eitherrobotic arm to the surgical table. After transferring one of the roboticarms to the coupling site of the surgical table as described above, thearm cart 2350 can be moved, with the second robotic arm in a stowedconfiguration, via the base 2354 to another location near the surgicaltable. The second robotic arm can be positioned for engagement with thesurgical table similarly as described above. Once properly aligned witha second coupling site of the surgical table, the second robotic arm canbe transferred to the surgical table and the arm cart 2350 can be movedaway from the surgical table.

FIG. 19A is a schematic illustration of a side view of an arm cart 2450and a robotic arm 2430. The arm cart 2450 can be the same or similar instructure and/or function to any of the arm carts described herein. Forexample, the arm cart 2450 includes an arm container 2452 and a base2454. The arm container 2452 can be coupled to and extend upwardly fromthe base 2454. The base 2454 can be freely moveable on a supportsurface, such as, for example, a floor, between a first location remotefrom a surgical table and a second location adjacent to the surgicaltable. The arm cart 2450 can also include a first arm cradle 2453A (alsoreferred to as a “first arm support”) and a second arm cradle 2453B(also referred to as a “second arm support”). The second arm cradle2453B can include a back stop 2477.

The robotic arm 2430 can be the same or similar in structure and/orfunction to any of the robotic arms described herein. For example, therobotic arm 2430 can include an arm coupling member 2439 (also referredto as a “coupler”). The arm cart 2450 is configured to support therobotic arm 2430 such that the center of gravity CG₂₄₃₀ of the roboticarm 2430 is disposed below the first arm cradle 2453A when the roboticarm 2430 is disposed in the first position. As shown in FIG. 19A, thefirst arm cradle 2453A and the second arm cradle 2453B can be positionedon opposite sides of the center of gravity CG₂₄₃₀ of the robotic arm2430 such that the bending moments needed to support the robotic arm2430 are minimized. The robotic arm 2430 can be held in position on thefirst arm cradle 2453A and the second arm cradle 2453B by gravity. Thus,the first arm cradle 2453A and the second arm cradle 2453B can bestationary relative to the base 2454 and no latch is needed to maintainthe robotic arm 2430 on the arm container 2452. In some embodiments,substantially the entire robotic arm 2430 except the arm coupling member2439 can be disposed within the arm container 2452 and protected by thearm container 2452 from impact with objects during movement of the armcart 2450 on the support surface.

In use, as shown in FIG. 19B, after the arm coupling member 2439 iscoupled to, for example, a surgical table, the robotic arm 2430 canpivot along arrow K-K up and out of the second arm cradle 2453B. In someembodiments, power can be provided from the surgical table to therobotic arm 2430 via the coupler 2439. The surgical arm 2430 can includeat least one joint, such as joint J1 ₂₄₃₀, separating a first portion ofthe robotic arm 2430 (e.g., the portion including coupler 2439) from asecond portion of the robotic arm 2430. The joint J1 ₂₄₃₀ can enablemovement of the first portion of the robotic arm 2430 relative to thesecond portion of the arm using the power provided by the table. Forexample, after coupling the coupler 2439 of the robotic arm 2430 to acoupler associated with the surgical table, the second portion of therobotic arm can be caused to move about the joint J1 ₂₄₃₀ such that thesecond portion of the robotic arm 2430 is moved away from the second armsupport 2453B. In some embodiments, the power provided from the surgicaltable to the robotic arm 2430 can cause two or more portions of therobotic arm 2430 to rotate relative to two or more joints of the roboticarm 2430 away from the arm cart 2450. As shown in FIG. 19C, when therobotic arm 2430 has pivoted high enough such that the robotic arm 2430does not obstruct movement of the arm cart 2450, the arm cart 2450 canbe moved away from the robotic arm 2430, such as along arrow L-L.

In some embodiments, a wireless hand control on an arm cart can be usedto activate movement of a robotic arm for transfer to a surgical table.For example, FIG. 20A is a schematic illustration of a surgical table2500, an arm cart 2550, and a robotic arm 2530 in a first configuration.The surgical table 2500 can be the same or similar to any of thesurgical tables described herein (e.g., the surgical table 100). Forexample, the surgical table 2500 includes a table top 2520, a support2522, and a base 2524. A patient (not shown) can be disposed on thetable top 2520. The surgical table 2500 can include a table couplingmember 2544.

The arm cart 2550 can be the same or similar in structure and/orfunction to any of the arm carts described herein. For example, the armcart 2550 can include an arm container 2552, an arm cradle 2453 (alsoreferred to as an “arm support”), and a base 2554. The arm container2552 can also include a handle 2559 including a wireless hand control2573. The wireless hand control 2573 can include any suitable wirelesscommunication components, such as, for example, infrared communicationelements.

The robotic arm 2530 can be the same or similar in structure and/orfunction to any of the robotic arms described herein. For example, therobotic arm 2530 can include a coupling member 1039 and a target jointJ12530. The coupling member 2539 of the robotic arm 2530 can beconfigured to releasably engage with the coupling member 2544 of thetable 2500. Additionally, the coupling member 2539 and the couplingmember 2544 can include any suitable complementary releasable couplingmeans.

In use, the robotic arm 2530 can be maintained in a folded, storageposition within the arm container 2552, as shown in the configuration ofFIG. 20A. The arm cart 2550 can be moved such that the arm cart 2550 isadjacent the surgical table 2500 and the coupling member 2539 is engagedwith the coupling member 2544. A user can then use the wireless handcontrol 2573 to communicate with the robotic arm 2530 and initiatemovement of the robotic arm 2530 along arrow M-M from the folded,storage position to the deployed position, as shown in FIG. 20B. In someembodiments, the movement of the robotic arm 2530 can be powered bypower provided from the surgical table 2500 to the robotic arm 2530 viathe coupling member 2539, causing one or more portions of the roboticarm 2530 to rotate relative to at least one other portion of the roboticarm 2530 around one or more joints of the robotic arm 2530. After therobotic arm 2530 has moved into the deployed configuration (and out ofthe way of movement of the arm cart 2530), the arm cart 2530 can bepulled away from the surgical table 2500 and the robotic arm 2530, suchas is shown by arrow N-N in FIG. 20C.

In addition, although not necessarily described for each embodiment, anyof the embodiments described here.

in can include an adapter with more than two link members or only onelink member. The various embodiments of a robotic surgical systemdescribed herein can include a table top on which a patient can bedisposed, an adapter, and one or more link members. As described above,in some embodiments, the robotic arm can be incorporated into theadapter (e.g., an adapter/robotic arm assembly) and be coupled to asurgical table or be couplable to a surgical table. The adapters and therobotic arms (or in the case of an adapter/robotic arm assembly) caninclude one or more links or link members to allow for movement of theadapter and/or arms about and/or along the X, Y, and/or Z axes, to adesired location relative to the table top and/or relative to a patientdisposed thereon.

While various embodiments have been described above, it should beunderstood that they have been presented by way of example only, and notlimitation. Where methods described above indicate certain eventsoccurring in certain order, the ordering of certain events may bemodified. Additionally, certain of the events may be performedconcurrently in a parallel process when possible, as well as performedsequentially as described above.

Where schematics and/or embodiments described above indicate certaincomponents arranged in certain orientations or positions, thearrangement of components may be modified. While the embodiments havebeen particularly shown and described, it will be understood thatvarious changes in form and details may be made. Any portion of theapparatus and/or methods described herein may be combined in anycombination, except mutually exclusive combinations. The embodimentsdescribed herein can include various combinations and/orsub-combinations of the functions, components and/or features of thedifferent embodiments described.

The invention claimed is:
 1. A cart for a surgical robotic arm having a coupler releasably couplable to a coupling site on a surgical table, the cart comprising: a base freely movable on a support surface between a first location remote from the surgical table and a second location adjacent to the surgical table; and an arm support coupled to the base, wherein the arm support is couplable to the arm to support the arm above the base and permit movement of the arm between a first position in which the coupler is not engageable with the coupling site when the base is at the second location and a second position in which the coupler is engageable with the coupling site when the base is at the second location, and wherein the arm support is releasably couplable to a support location on the arm to allow the arm support to disengage from the arm when the coupler is engaged with the coupling site such that the surgical table supports a weight of the arm while the arm cart moves away from the arm.
 2. The cart of claim 1, wherein the arm has a center of gravity when disposed in the first position, the cart configured to support the arm with the center of gravity disposed below the arm support when the arm is disposed in the first position.
 3. The cart of claim 2, wherein the arm has a center of gravity when disposed in the second position, the cart configured to support the arm with the center of gravity disposed below the arm support when the arm is disposed in the second position.
 4. The cart of claim 1, further comprising an arm container coupled to the base, the arm support of the cart being within the arm container to support the arm at least partially within the arm container when the arm is disposed in the first position.
 5. The cart of claim 1, further comprising an arm container coupled to the base, the coupler disposed within the arm container when the arm is disposed in the first position, and the coupler disposed outside of the arm container when the arm is disposed in the second position.
 6. The cart of claim 5, wherein the arm container and the arm support are configured to be movable between a deployed configuration and a stowed configuration, wherein the arm is contained in the arm container and supported on the arm support in the deployed configuration, and wherein at least one of a vertical, lateral, and longitudinal dimension of the cart is less in the stowed configuration than in the deployed configuration.
 7. The cart of claim 1, wherein the support location is spaced from the coupler.
 8. The cart of claim 7, wherein the coupler is proximate to a first end of the arm, the support location is proximate to a second end of the arm opposite to the first end of the arm, and the cart is configured to support the arm with the coupler disposed below the support location when the arm is disposed in the first position.
 9. The cart of claim 1, wherein the arm is a first arm, the coupler is a first coupler, the coupling site is a first coupling site, the cart is for a second arm having a second coupler releasably couplable to a second coupling site on the surgical table, the base movable to a third location on the support surface adjacent to the second coupling site, the cart further comprising: a second arm support coupled to the base and releasably couplable to the second arm to support the second arm above the base and permit movement of the second arm between a third position in which the second coupler is not engageable with the second coupling site when the base is at the third location and a fourth position in which the second coupler is engageable with the second coupling site when the base is at the third location.
 10. The cart of claim 1, wherein the arm support is linearly movable to move the arm from the first position to the second position.
 11. The cart of claim 1, wherein the arm support is rotationally movable to move the arm from the first position to the second position.
 12. The cart of claim 1, wherein the arm support is elongate and permits the coupler to be moved along the arm support for movement of the arm between the first position and the second position.
 13. The cart of claim 1, wherein the cart is a first cart, the first cart includes a cart coupler releasably couplable to a mating cart coupler on a second, substantially identical cart, the cart coupler to enable the first cart to be moved on the support surface together with the second cart.
 14. The cart of claim 1, wherein the cart is a first cart, the first cart being configured to nest with a second, substantially identical cart so that the first cart and the second cart collectively occupy less area on the support surface when nested together than when not nested together.
 15. A cart for a surgical robotic arm having a coupler releasably couplable to a coupling site on a surgical table, the cart comprising: a base freely movable on a support surface between a first location remote from the surgical table and a second location adjacent to the surgical table; an arm container coupled to and extending upwardly from the base; and an arm support coupled to one or more of the arm container and the base, wherein the arm support is couplable to the arm to support the arm in a first position in which substantially the entire arm except the coupler is disposed within the arm container and protected by the arm container from impact with objects during movement of the cart on the support surface, and wherein the arm is releasably couplable to a support location on the arm to allow the arm support to disengage from the arm when the coupler is engaged with the coupling site such that the surgical table supports a weight of the arm while the arm cart moves away from the arm.
 16. The cart of claim 15, wherein in the first position the coupler is not engageable with the coupling site when the base is at the second location and the arm support permits movement of the arm between the first position and a second position in which the coupler is engageable with the coupling site when the base is at the second location.
 17. The cart of claim 16, wherein in the first position the coupler is disposed within the arm container.
 18. The cart of claim 15, wherein the arm has a center of gravity when disposed in the first position, and wherein the cart is configured to support the arm with the center of gravity disposed below the arm support when the arm is disposed in the first position.
 19. The cart of claim 18, wherein the arm has a center of gravity when disposed in a second position, and wherein the cart is configured to support the arm with the center of gravity disposed below the arm support when the arm is disposed in the second position.
 20. An apparatus comprising: a surgical robotic arm having a table coupling mechanism releasably couplable to a coupling site on a surgical table, the table coupling mechanism having a first latching configuration with a first release force and a second latching configuration with a second release force greater than the first release force, the surgical robotic arm having a cart coupling location; a cart having: a base freely movable on a support surface between a first location remote from the surgical table and a second location adjacent to the surgical table; an arm support coupled to the base and releasably couplable to the surgical robotic arm at the cart coupling location to support the surgical robotic arm above the base with the table coupling mechanism engageable with the coupling site when the base is at the second location, the arm support releasably coupled to the cart coupling location with a third release force greater than the first release force and less than the second release force. 